diff --git a/embassy-net-esp-hosted/src/control.rs b/embassy-net-esp-hosted/src/control.rs
index c98d0ebf..a2a65bc3 100644
--- a/embassy-net-esp-hosted/src/control.rs
+++ b/embassy-net-esp-hosted/src/control.rs
@@ -29,6 +29,9 @@ impl<'a> Control<'a> {
     }
 
     pub async fn init(&mut self) {
+        debug!("wait for init event...");
+        self.shared.init_wait().await;
+
         debug!("set wifi mode");
         self.set_wifi_mode(WifiMode::Sta as _).await;
         let mac_addr = self.get_mac_addr().await;
diff --git a/embassy-net-esp-hosted/src/ioctl.rs b/embassy-net-esp-hosted/src/ioctl.rs
index 7cbe80b2..607b7b62 100644
--- a/embassy-net-esp-hosted/src/ioctl.rs
+++ b/embassy-net-esp-hosted/src/ioctl.rs
@@ -23,6 +23,7 @@ pub struct Shared(RefCell<SharedInner>);
 
 struct SharedInner {
     ioctl: IoctlState,
+    is_init: bool,
     control_waker: WakerRegistration,
     runner_waker: WakerRegistration,
 }
@@ -31,6 +32,7 @@ impl Shared {
     pub fn new() -> Self {
         Self(RefCell::new(SharedInner {
             ioctl: IoctlState::Done { resp_len: 0 },
+            is_init: false,
             control_waker: WakerRegistration::new(),
             runner_waker: WakerRegistration::new(),
         }))
@@ -97,4 +99,25 @@ impl Shared {
             warn!("IOCTL Response but no pending Ioctl");
         }
     }
+
+    // // // // // // // // // // // // // // // // // // // //
+
+    pub fn init_done(&self) {
+        let mut this = self.0.borrow_mut();
+        this.is_init = true;
+        this.control_waker.wake();
+    }
+
+    pub async fn init_wait(&self) {
+        poll_fn(|cx| {
+            let mut this = self.0.borrow_mut();
+            if this.is_init {
+                Poll::Ready(())
+            } else {
+                this.control_waker.register(cx.waker());
+                Poll::Pending
+            }
+        })
+        .await
+    }
 }
diff --git a/embassy-net-esp-hosted/src/lib.rs b/embassy-net-esp-hosted/src/lib.rs
index 700a5221..ff7bed2b 100644
--- a/embassy-net-esp-hosted/src/lib.rs
+++ b/embassy-net-esp-hosted/src/lib.rs
@@ -11,6 +11,7 @@ use ioctl::Shared;
 use proto::CtrlMsg;
 
 use crate::ioctl::PendingIoctl;
+use crate::proto::CtrlMsgPayload;
 
 mod proto;
 
@@ -308,6 +309,16 @@ where
         };
 
         debug!("event: {:?}", &event);
+
+        let Some(payload) = &event.payload else {
+            warn!("event without payload?");
+            return
+        };
+
+        match payload {
+            CtrlMsgPayload::EventEspInit(_) => self.shared.init_done(),
+            _ => {}
+        }
     }
 }
 
diff --git a/examples/nrf52840/src/bin/wifi_esp_hosted.rs b/examples/nrf52840/src/bin/wifi_esp_hosted.rs
index 401dbd33..b75756f7 100644
--- a/examples/nrf52840/src/bin/wifi_esp_hosted.rs
+++ b/examples/nrf52840/src/bin/wifi_esp_hosted.rs
@@ -69,9 +69,6 @@ async fn main(spawner: Spawner) {
 
     unwrap!(spawner.spawn(wifi_task(runner)));
 
-    // TODO: wait for ESP_INIT event instead of hardcoding delay.
-    Timer::after(Duration::from_secs(3)).await;
-
     control.init().await;
     control.join(env!("WIFI_NETWORK"), env!("WIFI_PASSWORD")).await;